WO2018211763A1 - ロック機構付きエアチャック - Google Patents

ロック機構付きエアチャック Download PDF

Info

Publication number
WO2018211763A1
WO2018211763A1 PCT/JP2018/006098 JP2018006098W WO2018211763A1 WO 2018211763 A1 WO2018211763 A1 WO 2018211763A1 JP 2018006098 W JP2018006098 W JP 2018006098W WO 2018211763 A1 WO2018211763 A1 WO 2018211763A1
Authority
WO
WIPO (PCT)
Prior art keywords
cylinder tube
lock member
fingers
pair
lock
Prior art date
Application number
PCT/JP2018/006098
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
石川慎太郎
冨田浩平
Original Assignee
Smc株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smc株式会社 filed Critical Smc株式会社
Priority to DE112018002553.5T priority Critical patent/DE112018002553T5/de
Priority to CN201880032184.6A priority patent/CN110621454B/zh
Priority to US16/613,340 priority patent/US10953477B2/en
Priority to JP2019519064A priority patent/JP7020619B2/ja
Priority to MX2019013591A priority patent/MX2019013591A/es
Priority to KR1020197031573A priority patent/KR102414982B1/ko
Priority to RU2019141618A priority patent/RU2751612C2/ru
Priority to BR112019023915-4A priority patent/BR112019023915A2/pt
Publication of WO2018211763A1 publication Critical patent/WO2018211763A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/1261—Chucks with simultaneously-acting jaws, whether or not also individually adjustable pivotally movable in a radial plane
    • B23B31/1276—Chucks with simultaneously-acting jaws, whether or not also individually adjustable pivotally movable in a radial plane using fluid-pressure means to actuate the gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/16195—Jaws movement actuated by levers moved by a coaxial control rod
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
    • B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
    • B23B31/16195—Jaws movement actuated by levers moved by a coaxial control rod
    • B23B31/16216—Jaws movement actuated by levers moved by a coaxial control rod using fluid-pressure means to actuate the gripping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/24—Chucks characterised by features relating primarily to remote control of the gripping means
    • B23B31/30—Chucks characterised by features relating primarily to remote control of the gripping means using fluid-pressure means in the chuck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/08—Arrangements for positively actuating jaws using cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/18—Arrangements for positively actuating jaws motor driven, e.g. with fluid drive, with or without provision for manual actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/08—Arrangements for positively actuating jaws using cams
    • B25B5/087—Arrangements for positively actuating jaws using cams actuated by a hydraulic or pneumatic piston
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/16—Details, e.g. jaws, jaw attachments
    • B25B5/166—Slideways; Guiding and/or blocking means for jaws thereon
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0095—Gripping heads and other end effectors with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B25J15/0273—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links comprising linear guide means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2231/00—Details of chucks, toolholder shanks or tool shanks
    • B23B2231/26—Detection of clamping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2260/00—Details of constructional elements
    • B23B2260/122—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2270/00—Details of turning, boring or drilling machines, processes or tools not otherwise provided for
    • B23B2270/02—Use of a particular power source
    • B23B2270/027—Pneumatics

Definitions

  • the present invention relates to an air chuck for holding a work by opening and closing a pair of fingers by the action of compressed air, and more specifically, a lock having a lock mechanism for locking the pair of fingers in the work holding position.
  • the present invention relates to an air chuck with a mechanism.
  • an air chuck configured to hold a work by opening and closing a pair of fingers by the action of compressed air is known as disclosed in Patent Documents 1 to 3.
  • the air chuck has a structure in which an air cylinder mechanism is built in the inside of the body and the pair of fingers are arranged openably and closably outside the body, and the piston of the air cylinder mechanism is made of compressed air.
  • the work is gripped between the pair of fingers by operating by action and displacing the pair of fingers with the rod connected to the piston to change the direction of the work or to move the workpiece to another place It is to carry.
  • the technical object of the present invention is to prevent the workpiece from falling by locking the finger in the workpiece gripping position even when the supply of compressed air is cut off while gripping the workpiece with a pair of fingers. It is an object of the present invention to provide an air chuck with a lock mechanism which is superior in safety.
  • the air chuck with a lock mechanism of the present invention operates a piston inside a cylinder tube by the action of compressed air, and opens and closes a pair of fingers by advancing and retracting a rod connected to the piston. It has a chuck mechanism for gripping a work, and a lock mechanism for locking the pair of fingers in the workpiece gripping position, and the lock mechanism is a first lock member that is displaced along with the opening and closing of the pair of fingers, and the first lock A second locking member for locking the pair of fingers in the workpiece gripping position by locking to the member; a locking position for locking the first locking member and the second locking member to each other; And a driving device relatively displaced.
  • the cylinder tube is accommodated in the cylinder hole of the chuck body so as to be able to reciprocate and rotate a certain angular range about the axis, and is connected to the drive device, and the first lock member and the first lock member One of the two locking members is driven by the drive device to the locked position and the unlocked position via the cylinder tube.
  • a first annular flow passage communicating with a first port provided in the chuck body, and a second annular passage provided in the chuck body A second annular flow passage communicating with the port is formed to surround the outer periphery of the cylinder tube, and a side of the cylinder tube is provided with a first pressure chamber on one side of the piston and the first annular flow passage. It is desirable that a first through hole connecting the second pressure chamber and a second through hole connecting the second pressure chamber on the other side of the piston and the second annular flow passage be formed.
  • the drive unit is formed by a swing type actuator, and the swing type actuator has an output shaft that reciprocates in a predetermined angular range by the action of compressed air, and the output shaft is the cylinder. It is desirable to be connected to the tube.
  • the pair of fingers is supported by a support rail so as to be able to open and close, and the first lock member is attached to the pair of fingers, respectively;
  • the first lock member is attached to the pair of fingers, respectively;
  • first lock member and the second lock member have wedge surfaces that engage with each other, and the wedge surface is directed in the circumferential direction which is the displacement direction of the first lock member or the second lock member. Preferably, it is inclined in a direction intersecting the circumferential direction.
  • the support member has a ring shape, and is disposed so as to surround the outer periphery of the support rail, and the second lock member is attached to diametrically opposite positions of the support member. .
  • the first lock member is formed of a shaft-like member provided on the rod in a direction orthogonal to the axis
  • the second lock member is formed of It is formed of a hook-shaped member that can be locked to the lock member
  • the rod and the first lock member are arranged so as not to rotate together with the cylinder tube even if the cylinder tube rotates, and the second lock member connects the cylinder tube to the cylinder tube It may be connected to rotate together.
  • the finger gripping the workpiece can be locked at the workpiece gripping position by the lock mechanism, so even if the supply of the compressed air to the chuck mechanism is interrupted for some reason while gripping the workpiece, Misalignment or dropping of the work is prevented. For this reason, damage to the work or damage to peripheral equipment due to the fall of the work is prevented, and the safety of the worker is also ensured.
  • FIG. 6 is a plan view of the air chuck in a state in which a pair of fingers is locked at a workpiece gripping position.
  • FIG. 24 is a cross-sectional view along XXIV-XXIV of FIG. 23.
  • FIG. 26 is a cross-sectional view along XXVI-XXVI of FIG. 25. It is a side view which omits a rail holder and shows the air chuck in the state where the finger which carried out inner diameter chucking of the work was locked in the work holding position.
  • FIG. 1 to 9 show a first embodiment of an air chuck with a lock mechanism according to the present invention.
  • the chuck mechanism 1 performs gripping and releasing of the work W by opening and closing the pair of fingers 5 and 5 by the air cylinder device 4, and the work gripping position of the pair of fingers 5 and 5
  • the lock mechanism 2 to be locked is integrally assembled with one rectangular block-shaped chuck body 3 along an axis L passing through the center of the chuck body 3.
  • the chuck mechanism 1 comprises the air cylinder device 4, the pair of fingers 5 and 5, and the support rail 8 which supports the pair of fingers 5 and 10 so as to be able to open and close.
  • a pair of opening and closing levers 9 and 9 which convert the linear movement of the rod 13 of the air cylinder device 4 into the opening and closing movement of the pair of fingers 5 and 5 is as follows.
  • the air cylinder device 4 is slid in the direction of the axis L through the cylinder packing 11 with the cylindrical cylinder tube 11 open at one end (upper end) and closed at the other end (lower end), and the inside of the cylinder tube 11.
  • a piston 12 accommodated so as to be movable and relatively rotatable about the axis L, and a proximal end portion thereof connected to the piston 12 so that a distal end portion protrudes outward from the open end of the cylinder tube 11
  • the rod 13 A ring-shaped rod cover 15 is airtightly fixed to the open end of the cylinder tube 11, and the rod 13 can slide in the direction of the axis L through the rod packing 16 in the central hole of the rod cover 15. It penetrates so as to be relatively rotatable around the axis L.
  • the piston packing 14 is accommodated in a packing holding groove formed on the outer periphery of the piston 12, and the rod packing 16 is accommodated in a packing holding groove formed on the inner periphery of the rod cover 15. Further, a packing support 17 for preventing the rod packing 16 from falling off, tilting or the like is attached to the lower end surface of the rod cover 15, and the piston 12 is attached to the rod cover 15 at the upper end portion of the piston 12. A damper 22 is attached to reduce the impact when it abuts on the packing support 17 of FIG.
  • a first pressure chamber 18 a is formed between the piston 12 and the bottom wall 11 a of the cylinder tube 11, and a second pressure chamber 18 b is formed between the piston 12 and the rod cover 15.
  • a first through hole 19a communicating with the first pressure chamber 18a and a second through hole 19b communicating with the second pressure chamber 18b are formed on the side surface of the cylinder tube 11. Further, on the end face of the piston 12 facing the first pressure chamber 18a, a ring-shaped magnet 20 to be a subject at the time of detecting the operation position of the piston 12 is attached via a magnet holder 21. There is.
  • the cylinder tube 11 is accommodated in a cylinder hole 24 formed in the interior of the chuck body 3 so as to be relatively reciprocally rotatable by a certain angular range about the axis L via a bearing 23 ing. Further, three cylinder packings 25a, 25b, 25c are provided between the outer circumference of the cylinder tube 11 and the inner circumference of the cylinder hole 24, and the cylinder packings 25a, 25b, 25c are provided between the three cylinder packings 25a, 25b, 25c.
  • a first annular flow passage 26a communicating with the first through hole 19a and a second annular flow passage 26b communicating with the second through hole 19b are formed so as to surround the outer periphery of the cylinder tube 11, and the chuck body
  • the side surface 3 is provided with a first port 27a communicating with the first annular channel 26a and a second port 27b communicating with the second annular channel 26b.
  • first port 27a and the second port 27b are alternately connected to the air supply side and the exhaust side by a solenoid valve (not shown), the first annular channel 26a and the second annular channel 26b, The compressed air is alternately supplied and discharged to the first pressure chamber 18a and the second pressure chamber 18b through the first through hole 19a and the second through hole 19b, so that the piston 12 and the rod 13 move forward and backward (up and down (upper and lower) Move) That is, when the first port 27a is connected to the compressed air source and the second port 27b is opened to the atmosphere, the compressed pressure is supplied to the first pressure chamber 18a, so that the piston 12 and the rod 13 rise ( 7), and by connecting the second port 27b to a compressed air source and opening the first port 27a to the atmosphere, the compressed air is supplied to the second pressure chamber 18b, so that the piston 12 can be used. And the rod 13 is lowered (see FIG. 2).
  • the finger 5 is a member having an L-shape or an inverted T-shape in a side view, and has a vertically long grip 5a and a horizontally long slide 5b connected to the base end of the grip 5a.
  • a plate-like chuck spacer 6 is attached to the inner side surface of the holding portion 5a by a screw 32, and is configured to hold the work W between the opposing chuck spacers 6, 6.
  • the first chuck members 47, 47 which will be described later, are attached to the two chuck spacers 6, 6, respectively. The configuration of the first lock member 47 will be described in detail later.
  • the support rail 8 is an elongated member in the left and right direction, and has guide grooves 8a extending in the left and right on the upper surface, and the sliding portion 5b of the finger 5 is slidably fitted in the guide grooves 8a. doing.
  • the support rail 8 is fixedly attached to a rail holder 37 formed on the first end 3 a side of the chuck body 3.
  • the rail holder 37 is formed by cutting a central portion of a cylinder in a diameter direction, and has a pair of mounting walls 38, 38 having an arc-shaped outer peripheral surface, and between the pair of mounting walls 38, 38. And the space 39 formed.
  • a stepped portion 40 having a screw hole 40 a is formed on the opposing surface of the pair of mounting walls 38, 38, and the support rail 8 is placed on the stepped portion 40 and the screw insertion of the support rail 8 is performed.
  • the rail fixing screw 41 By inserting the rail fixing screw 41 into the hole and screwing it into the screw hole 40a, the support rail 8 is fixed so as to cover the space 39 between the pair of mounting walls 38, 38.
  • the rail holder 37 may be formed integrally with the chuck body 3 or may be formed separately from the chuck body 3 and attached to the chuck body 3 with a screw.
  • the opening and closing levers 9 and 9 are L-shaped members, and are accommodated in the space 39 covered by the support rail 8, and an intermediate portion of each opening and closing lever 9 is rotatable by a lever shaft 44.
  • the both ends of the lever shaft 44 are supported by the rail holder 37 by fitting in support holes 38a, 38a formed in the pair of mounting walls 38, 38 of the rail holder 37. It is done.
  • U-shaped notches 9a, 9a are formed at the base end of the opening / closing lever 9, 9, and the notches 9a, 9a engage with the engagement pins 45 at the tip of the rod 13.
  • engaging portions 9b, 9b having an arc-like outer surface are formed at the tip of the opening / closing lever 9, 9, and the engaging portions 9b, 9b are formed on the lower surfaces of the fingers 5,5.
  • the formed engagement recesses 5c, 5c it is rotatably fitted through an opening 8b formed in the support rail 8.
  • the lock mechanism 2 has a pair of first lock members 47 provided on the pair of fingers 5 and 5 and a circumferential direction around the axis L.
  • each component which comprises the said 2nd lock members 48 and 48 and the said lock member displacement mechanism 49, ie, the said 2nd lock members 48 and 48-displacement (rotation (rotation) The parts to be) are marked with dots.
  • the first lock member 47 has a recess 47b in which the grip 5a of the finger 5 is fitted, and an attachment 47c formed on both sides of the recess 47b, and the grip 5a is formed in the recess 47b.
  • the outer surface of the first lock member 47 that is, the surface facing the second lock member 48, intersects the displacement direction (circumferential direction) of the second lock member 48.
  • a first weir surface 47a inclined in the direction is formed.
  • the second lock member 48 is a member having a square block shape, and on the inner side surface, that is, the surface facing the first lock member 47 side, the first wedge surface of the first lock member 47 A second weir surface 48a is formed which is inclined in the same direction as 47a.
  • the second weir surface 48a and the first weir surface 47a may be inclined linearly, but in the illustrated example, both are inclined in a gently convex curved shape.
  • the second lock member 48 has an attachment portion 48b at the upper end of a ring-shaped support member 55 disposed around the rail holder 37 of the chuck body 3 (therefore around the pair of fingers 5, 5). It is attached by fixing with the attachment screw 56.
  • the support member 55 is disposed so as to cover the side surface of the space 39, and is connected to the cylinder tube 11 of the chuck mechanism 1, and the cylinder tube 11 makes a constant angle around the axis L The range is rotated back and forth.
  • the positions at which the pair of second lock members 48 are attached to the support member 55 are diametrically opposite positions of the support member 55. Therefore, the first wedge surface 47 a of the first lock member 47 and the second wedge surface 48 a of the second lock member 48 are inclined in a direction intersecting the circumference of the support member 55. .
  • a pair of support member attachment extending in the direction away from the axis L at the diametrically opposite position of the cylinder tube 11 at the upper end of the cylinder tube 11 Portions 57, 57 are formed.
  • the tip end of the support member attachment portion 57 protrudes to the outside of the rail holder 37 through a swing notch 39a formed in the rail holder 37, and the support member 55 is provided at the tip of the support member attachment portion 57.
  • a support member fixing screw 58 is fixed by a support member fixing screw 58.
  • the support member 55 is rotated about the axis L by a predetermined angle by rotating the cylinder tube 11 in one direction, as shown by the solid line in FIG.
  • the second wedge surfaces 48a, 48a are hooked and engaged with the first wedge surfaces 47a, 47a of the first locking members 47, 47, the pair of fingers 5 and 5 are locked in that position and released. It will not be possible.
  • a boosting action works and the holding force at the time of locking becomes very large.
  • the rod 13 At the time of rotation of the cylinder tube 11, the rod 13 is in a state where the tip thereof is substantially connected to the pair of opening and closing levers 9, 9 by the engagement pin 45, and the opening and closing levers 9, 9 Because it does not rotate, it does not rotate with the cylinder tube 11. At this time, the rod cover 15, the rod packing 16 and the packing support 17 rotate with the cylinder tube 11.
  • the cylinder tube 11 is connected to the drive unit 50 attached by a screw 59 on the side of the second end 3 b which is the lower end of the chuck body 3, and is pivoted and rotated by the drive unit 50.
  • the drive unit 50 is formed of a vane-type oscillating actuator.
  • the oscillating actuator includes an actuator body 60 including a first body portion 60a and a second body portion 60b, a vane chamber 61 formed inside the actuator body 60, and an angle formed inside the vane chamber 61. It has the vane 62 accommodated so that it could rock
  • the actuator body 60 is provided with a third port 64a and a fourth port 64b for supplying and discharging compressed air to pressure chambers on both sides of the vane 62, and the third port 64a and the fourth port 64b are provided. By supplying and discharging compressed air to the pressure chamber through the port 64 b, the vane 62 reciprocates and rotates around an axis L, and the rotational force is taken out through the output shaft 63.
  • the output shaft 63 is connected to the cylinder tube 11 via a connecting member 65 attached to the output shaft 63 and an adjusting member 66 engaged with the connecting member 65, and the connecting member 65 and the adjusting member 66.
  • the member denoted by reference numeral 69 in the drawing is a connecting screw for connecting the adjustment member 66 to the bottom surface of the cylinder tube 11, and the member denoted by reference numeral 59 is the second body portion 60b of the actuator body 60. It is a mounting screw for mounting to the lower end portion of the chuck body 3.
  • the adjustment member 66 is a member for setting and adjusting the rotation angle of the cylinder tube 11 (therefore, the support member 55 and the second lock member 48), and has two stopper levers 66a, 66a. doing.
  • two adjustment bolts 67, 67 are attached to the chuck body 3 so as to be able to move forward and backward, and the tips of the two adjustment bolts 67, 67 are on the two stopper levers 66a, 66a. We are facing each other.
  • the cylinder tube 11 can reciprocate within an angle range in which the two stopper levers 66a, 66a abut on the two adjustment bolts 67, 67, and the rotation angle is the same as that of the adjustment bolts 67, 67. Can be adjusted by advancing and retracting operations.
  • a sensor mounting groove 68 for mounting a magnetic sensor is formed on the side surface of the chuck body 3, and the magnetism of the magnet 20 mounted on the piston 12 of the cylinder device is detected by the magnetic sensor. The operating position of the piston 12 can be detected.
  • the air chuck 100 having the above-described configuration mounts the chuck body 3 on a working arm of an automatic machine, holds the work W by the pair of fingers 5 and 5, turns the work W, and turns it to another place. It is used when transporting. At this time, the air cylinder device 4 of the chuck mechanism 1 and the drive device 50 of the lock mechanism 2 are connected to different air pressure sources. The gripping and releasing operations of the work W by the air chuck 100 are performed as follows.
  • the vane 62 of the drive unit 50 is rotated counterclockwise in FIG. 4 by the action of compressed air, and the support member 55 is rotated in the same direction via the cylinder tube 11.
  • the second lock members 48 are displaced to the positions of the broken lines separating from the first lock members 47, 47, and then the first pressure chamber of the cylinder tube 11 is moved as shown in FIGS.
  • the pair of fingers 5 and 5 are opened by supplying compressed air into the space 18a to raise the piston 12 and the rod 13.
  • the work W to be gripped is interposed between the chuck spacers 6, 6 of the pair of fingers 5, 5, and in that state, the second pressure chamber 18b of the cylinder tube 11 By supplying compressed air therein to lower the piston 12 and the rod 13 and closing the fingers 5, 5, as shown in FIG. 9, the workpiece W is gripped between the chuck spacers 6, 6.
  • the vanes 62 of the drive unit 50 are rotated by the action of compressed air, and the support member 55 and the second lock members 48, 48 in the position of FIG. 8 are rotated clockwise via the cylinder tube 11.
  • the second wedge surfaces 48a, 48a of the second lock members 48, 48 are brought into contact with the first wedge surfaces 47a, 47a of the first lock members 47, 47 in a hook shape.
  • the pair of fingers 5 and 5 are locked at the workpiece gripping position by the second locking members 48 and 48 and can not be released.
  • the air chuck 100 has different thicknesses because the second wedge surfaces 48a, 48a of the second lock members 48, 48 and the first wedge surfaces 47a, 47a of the first lock members 47, 47 are inclined. It can correspond also to work W of.
  • the degree to which the second wedge surface 48a of the second lock member 48 and the first wedge surface 47a of the first lock member 47 are engaged is When the workpiece W smaller in thickness than the workpiece W shown in FIG. 9 is gripped, the second wedge surface 48 a of the second lock member 48 and the first lock member 47 become smaller.
  • the degree of meshing with the first weir surface 47a is greater than in the case of FIG.
  • FIGS. 10 to 16 show a second embodiment of the air chuck with a lock mechanism according to the present invention.
  • the air chuck 100 according to the first embodiment described above in order to lock the pair of fingers 5 and 5 in the workpiece gripping position, the second of the first locking members 47 and 47 and the second locking members 48 and 48 is selected.
  • the lock members 48 are rotated, but in the air chuck 200 of the second embodiment, the first lock members 47 are rotated.
  • the fingers 5 and 5 to which the first lock members 47 and 47 are attached are connected to the cylinder tube 11 via the support rail 8.
  • the first locking members 47 and 47 are rotated by rotating the support rails 8 and the fingers 5 and 5 with the cylinder tube 11, and the second locking members 48 and 48 are attached.
  • the supporting member 55 is fixed to the chuck body 3.
  • the cylinder tube 11 and the opening / closing lever 9, 9 and the rod 13 and the piston 12 can be rotated together when the fingers 5, 5 and the support rail 8 are rotated.
  • the cylinder tube 11 and the piston 12 are integrated with each other in the rotational direction about the axis L and do not relatively rotate, but they are relatively rotated in the axis L direction. It is configured to be displaceable.
  • a cylindrical rail holder 201 having a diameter larger than that of the cylinder tube 11 is formed.
  • a step 202 extending in the diameter direction of the rail holder 201 is formed at the upper end of the rail holder 201, and the support rail 8 is mounted on the step 202, and a screw of the support rail 8 is formed.
  • the support rail 8 is fixed to the cylinder tube 11 by screwing the rail fixing screw 41 inserted into the insertion hole into the screw hole 204 of the stepped portion 202.
  • the width and depth of the step 202 are approximately the same as the width and height of the support rail 8.
  • the rail holder 201 is integrally formed with the cylinder tube 11, but may be formed separately from the cylinder tube 11 and may be attached to the cylinder tube 11 with a screw.
  • a ring-shaped fitting portion 205 to be fitted to the inside of the support member 55 is formed at the center, and four screw holes 206 are formed at four corners.
  • the fixing screw 207 is formed, mounted on the first end 3a in a state of being positioned by the fitting of the fitting portion 205, and inserted into the screw insertion hole of the supporting member 55.
  • the support member 55 is fixed to the chuck body 3 by screwing the screw into the screw hole 206.
  • the other configuration of the air chuck 200 is substantially the same as the configuration of the air chuck 100 of the first embodiment, the main components that are the same as those of the first embodiment are not particularly limited.
  • the same reference numerals as in the first embodiment are given and the description thereof is omitted.
  • the cylinder tube 11 is rotated about the axis L by the driving device 50.
  • the orientations of the fingers 5 and 5 are oriented so as to occupy the position where the first locking members 47 and 47 do not contact the second locking members 48 and 48.
  • the piston 12, the rod 13 and the opening / closing lever 9 also rotate.
  • the orientations of the fingers 5 and 5 are such that the first locking members 47 and 47 occupy positions different from each other by 90 degrees with respect to the second locking members 48 and 48. It does not have to be this direction.
  • compressed air is supplied into the first pressure chamber 18a of the cylinder tube 11 to raise the piston 12 and the rod 13, thereby opening the pair of fingers 5 and 5 as shown in FIGS.
  • compressed air is supplied into the second pressure chamber 18b of the cylinder tube 11 in a state in which the work W is interposed between the chuck spacers 6, 6 of the pair of fingers 5, 5, and the piston 12 and the rod
  • the work W is gripped by lowering 13 and closing the fingers 5 and 5.
  • the cylinder tube 11 is rotated about the axis L by the driving device 50, and the first wedge surfaces 47a, 47a of the first locking members 47, 47 are The pair of fingers 5 and 5 are locked at the workpiece gripping position by bringing the second wedge surfaces 48a and 48a of the lock members 48 and 48 into abutment with each other.
  • the lock member displacement mechanism 49 for displacing the first lock members 47, 47 includes the connecting member 65 and the adjustment member 66.
  • the air cylinder device 4, the opening and closing levers 9, 9, the support rails 8, the fingers 5, 5, and the chuck spacers 6, 6 can be said to be configured.
  • FIGS. 17 to 27 show a third embodiment of the air chuck with a lock mechanism according to the present invention.
  • the main difference between the air chuck 300 of the third embodiment and the air chuck 100 of the first embodiment is the shape and arrangement of the first lock member 47 and the second lock member 48. That is, in the air chuck 300 of the third embodiment, the first lock member 47 is shaped like a shaft and is attached to the rod 13 for opening and closing the pair of fingers 5 and 5, and the second lock member 48 is A hook-shaped lockable to the shaft-shaped first lock member 47 is directly attached to the cylinder tube 11.
  • the ring-shaped support member 55 necessary for attaching the second lock member 48 is omitted in the air chuck 300 of the third embodiment.
  • the swing notch 39a formed in the rail holder 37 for holding the support rail 8 corresponds to the rail holder 37 of the air chuck 300 of the third embodiment. Not formed.
  • the configuration and operation of the air chuck 300 of the third embodiment will be described.
  • the first embodiment will be described.
  • the same reference numerals as in the embodiment are given and the specific description thereof is omitted, and parts and parts having configurations different from those in the first embodiment are given new reference numerals and described.
  • dots are attached to parts which are integrally displaced (rotated) with the cylinder tube 11.
  • the first lock member 47 is formed by an engagement pin 45 that connects the rod 13 and the pair of opening and closing levers 9, 9. That is, the first lock member 47 is shaped like a shaft having a circular cross section, extends in a direction orthogonal to the axis L, and doubles as the engagement pin 45. Further, the length of the first lock member 47 is longer than the diameter of the cylinder tube 11, and both ends of the first lock member 47 protrude outside the outer peripheral surface of the cylinder tube 11, Locking portions 47A that lock the second lock member 48 are respectively formed at both end portions. Further, both end portions of the first lock member 47 are displaceable in the direction of the axis L in the guide groove 37a (see FIG. 24) formed on the inner surface of the rail holder 37, but centered on the axis L It is fitted so as to be fixed in the rotational direction.
  • the second lock member 48 is a member having a substantially Z shape in a side view, and is a claw portion 301 which is locked and separated from the locking portion 47A.
  • a leg portion 302 extending downward (longitudinal direction) from a proximal end of the claw portion 301, and a leg bottom portion 303 extending slenderly in the lateral direction from a lower end portion of the leg portion 302. Curved in the shape of
  • the claw portion 301 extends in a direction (lateral direction) intersecting with the first lock member 47, and has ridge surfaces 304a and 304b on both upper and lower surfaces, and among them, a lower ridge surface formed on the lower surface
  • the upper end surface 304b formed on the upper surface is gradually lowered toward the tip end side of the claw portion 301. That is, it is inclined in the direction approaching the lower weir surface 304a.
  • Two second lock members 48 are attached to the upper end portion of the cylinder tube 11 so as to correspond to the locking portions 47A and 47A at both ends of the first lock member 47.
  • the two second lock members 48 have the same shape, and the tips of the claws 301 are arranged in the same direction with the circumferential direction of the cylinder tube 11.
  • a flange-shaped attachment portion 305 is formed on the upper end portion of the cylinder tube 11 so as to protrude outward in the diameter direction of the cylinder tube 11.
  • two elongated groove-shaped attachment grooves 306 are formed along the circumference of the attachment portion 305, and the leg bottom portion 303 is formed in the attachment grooves 306.
  • the second lock member 48 is engaged with the cylinder tube 11 by inserting the fixing pin 307 from the side direction of the mounting portion 305 into the fixing hole 303 a formed in the mounting portion 305 and the leg bottom portion 303. It is fixed to
  • the difference between the air chuck 300 of the third embodiment and the air chuck 100 of the first embodiment is that the rail holder 37 is fixed to the first end 3 a of the chuck body 3 by the holder fixing screw 310.
  • the support rail 8 supporting the fingers 5 and 5 is fixed to the step portion 40 of the rail holder 37 with the rail fixing screw 41, the positioning screw 309 in the screw hole 308 on the side surface of the rail holder 37.
  • the support rail 8 is pressed against the side wall 40 b opposite to the step 40 by the positioning screw 309 to fix the support rail 8 in a precisely positioned state.
  • the other configuration of the air chuck 300 is substantially the same as the configuration of the air chuck 100 of the first embodiment.
  • the configuration relating to the positioning screw 309 and the one adjustment bolt 67 in the air chuck 300 of the third embodiment can be applied to the air chuck 100 of the first embodiment and the air chuck 200 of the second embodiment.
  • FIG. 22 shows a state in which the work W is not gripped by opening the pair of fingers 5 and 5.
  • the first lock member 47 occupies the raised position as the rod 13 advances (rises), and the second lock member 48 occupies the non-locked position separated from the first lock member 47. .
  • the cylinder tube 11 is rotated clockwise about the axis L by the drive unit 50 to displace the two second lock members 48 to the lock position.
  • the pair of fingers 5 and 5 are locked at the workpiece gripping position by locking the lower wedge surfaces 304a of the second lock members 48 and 48 to the upper surfaces of the locking portions 47A at both ends of the first lock member 47. Ru.
  • the air chuck 300 can also chuck the workpiece W having the central hole H as shown in FIG.
  • the rod 13 is lowered by the air cylinder device 4 to close the pair of fingers 5 and 5 and after inserting the fingers 5 and 5 into the central hole H of the work W in that state
  • the rod 13 is raised to open the pair of fingers 5 and 5, and the outer surfaces of the fingers 5 and 5 are engaged with the inner periphery of the central hole H.
  • the second locking members 48 occupy the non-locking position separated from the first locking member 47, as shown by a chain line in FIG.
  • the cylinder tube 11 is rotated by the drive device 50, and the second lock members 48, 48 are displaced to the lock position as shown by the solid line in FIG. Since the upper eyelid surfaces 304 b of the members 48, 48 engage with the lower surfaces of the locking portions 47 A, 47 A at both ends of the first lock member 47, the pair of fingers 5, 5 is locked at the workpiece gripping position.
  • the chuck spacer 6 may not be attached to the fingers 5 and 5.
  • the first lock member 47 is also used as the engagement pin 45. However, the first lock member 47 may be provided separately from the engagement pin 45.
  • the first lock member 47 is not rotated, and the second lock members 48 are rotated by the driving device 50 through the cylinder tube 11.
  • the second lock members 48 may be non-rotating, and the first lock member 47 may be configured to be rotated by the drive device 50 via the cylinder tube 11.
  • the second lock members 48 are fixed to the chuck body 3 via an appropriate support member, and the piston 12, the rod 13, and the first lock member
  • the opening / closing levers 9, 9, the support rails 8, the fingers 5, 5 and the like may be configured to rotate together with the cylinder tube 11.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Jigs For Machine Tools (AREA)
  • Actuator (AREA)
PCT/JP2018/006098 2017-05-17 2018-02-21 ロック機構付きエアチャック WO2018211763A1 (ja)

Priority Applications (8)

Application Number Priority Date Filing Date Title
DE112018002553.5T DE112018002553T5 (de) 2017-05-17 2018-02-21 Druckluftfutter mit Verriegelungsmechanismus
CN201880032184.6A CN110621454B (zh) 2017-05-17 2018-02-21 带锁定机构的气动夹具
US16/613,340 US10953477B2 (en) 2017-05-17 2018-02-21 Air chuck provided with locking mechanism
JP2019519064A JP7020619B2 (ja) 2017-05-17 2018-02-21 ロック機構付きエアチャック
MX2019013591A MX2019013591A (es) 2017-05-17 2018-02-21 Mandril de aire provisto con mecanismo de bloqueo.
KR1020197031573A KR102414982B1 (ko) 2017-05-17 2018-02-21 록 기구 부착 에어 척
RU2019141618A RU2751612C2 (ru) 2017-05-17 2018-02-21 Пневматический зажимной патрон, снабженный блокировочным механизмом
BR112019023915-4A BR112019023915A2 (pt) 2017-05-17 2018-02-21 Mandril de ar munido de mecanismo de travamento

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2017-098339 2017-05-17
JP2017098339 2017-05-17
JP2017-165513 2017-08-30
JP2017165513 2017-08-30

Publications (1)

Publication Number Publication Date
WO2018211763A1 true WO2018211763A1 (ja) 2018-11-22

Family

ID=64273715

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/006098 WO2018211763A1 (ja) 2017-05-17 2018-02-21 ロック機構付きエアチャック

Country Status (10)

Country Link
US (1) US10953477B2 (ru)
JP (1) JP7020619B2 (ru)
KR (1) KR102414982B1 (ru)
CN (1) CN110621454B (ru)
BR (1) BR112019023915A2 (ru)
DE (1) DE112018002553T5 (ru)
MX (1) MX2019013591A (ru)
RU (1) RU2751612C2 (ru)
TW (1) TWI744492B (ru)
WO (1) WO2018211763A1 (ru)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111975810A (zh) * 2020-09-11 2020-11-24 鹤壁职业技术学院 一种机械手指及机械手
CN113696211A (zh) * 2021-09-13 2021-11-26 北京理工大学 一种空间机械臂软抓手

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6953336B2 (ja) * 2018-03-22 2021-10-27 本田技研工業株式会社 連結具
TWI734454B (zh) * 2020-04-28 2021-07-21 鴻海精密工業股份有限公司 身份辨識裝置以及身份辨識方法
JP2022162616A (ja) * 2021-04-13 2022-10-25 Smc株式会社 エアチャック
RU208230U1 (ru) * 2021-07-07 2021-12-08 Федеральное государственное бюджетное образовательное учреждение высшего образования "Кубанский государственный аграрный университет им. И.Т. Трубилина" Станочные тиски

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49141565U (ru) * 1973-04-06 1974-12-06
JPH042585U (ru) * 1990-04-20 1992-01-10
JPH10225887A (ja) * 1997-02-12 1998-08-25 Smc Corp リニアガイド式エアチャック
JP2008272867A (ja) * 2007-04-27 2008-11-13 Kondo Seisakusho:Kk ロック機構付き平行ハンド
JP2009214204A (ja) * 2008-03-07 2009-09-24 Ckd Corp ロボットハンド
DE102011115366A1 (de) * 2011-10-10 2013-04-11 Günther Zimmer Greifvorrichtung mit Haltevorrichtung
JP2016155199A (ja) * 2015-02-25 2016-09-01 Ckd株式会社 把持装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4530508A (en) * 1982-07-14 1985-07-23 Ferraro Thomas A Jaw locking means for lathe chucks
EP0208827B1 (de) * 1984-08-04 1990-06-06 Robert Bosch Gmbh Greifvorrichtung
JP2763998B2 (ja) 1993-10-05 1998-06-11 シーケーディ株式会社 スイッチ付エアチャック
RU2096167C1 (ru) * 1996-05-28 1997-11-20 Московское авиационное производственное объединение "МИГ" Схват промышленного робота
US6588816B1 (en) * 1996-10-07 2003-07-08 Phd, Inc. Modular stamped parts transfer gripper
JPH10166290A (ja) * 1997-06-30 1998-06-23 Ckd Corp スイッチ付エアチャック
JP3263373B2 (ja) * 1998-12-18 2002-03-04 エービービー株式会社 自動塗装装置
JP2000343473A (ja) * 1999-06-03 2000-12-12 Smc Corp 平行開閉チャック
JP3292715B2 (ja) * 1999-10-12 2002-06-17 エスエムシー株式会社 緩衝機能付き電動ハンド
RU32423U1 (ru) * 2003-05-19 2003-09-20 Московский государственный открытый университет Схват промышленного робота
JP4238735B2 (ja) * 2004-02-03 2009-03-18 Ｓｍｃ株式会社 把持部材ストローク可変の空気圧駆動チャック
JP4737456B2 (ja) * 2007-11-22 2011-08-03 Ｓｍｃ株式会社 グリッパ機構
JP2010069570A (ja) * 2008-09-18 2010-04-02 Denso Corp エアチャック装置
WO2012073723A1 (ja) * 2010-12-02 2012-06-07 株式会社コスメック クランプ装置
CN203804634U (zh) * 2014-04-19 2014-09-03 建湖县海盛机械制造有限公司 一种楔推式双头车双向主轴夹头
JP6628076B2 (ja) * 2015-06-30 2020-01-08 Smc株式会社 チャック装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS49141565U (ru) * 1973-04-06 1974-12-06
JPH042585U (ru) * 1990-04-20 1992-01-10
JPH10225887A (ja) * 1997-02-12 1998-08-25 Smc Corp リニアガイド式エアチャック
JP2008272867A (ja) * 2007-04-27 2008-11-13 Kondo Seisakusho:Kk ロック機構付き平行ハンド
JP2009214204A (ja) * 2008-03-07 2009-09-24 Ckd Corp ロボットハンド
DE102011115366A1 (de) * 2011-10-10 2013-04-11 Günther Zimmer Greifvorrichtung mit Haltevorrichtung
JP2016155199A (ja) * 2015-02-25 2016-09-01 Ckd株式会社 把持装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111975810A (zh) * 2020-09-11 2020-11-24 鹤壁职业技术学院 一种机械手指及机械手
CN111975810B (zh) * 2020-09-11 2021-12-14 鹤壁职业技术学院 一种机械手指及机械手
CN113696211A (zh) * 2021-09-13 2021-11-26 北京理工大学 一种空间机械臂软抓手
CN113696211B (zh) * 2021-09-13 2023-12-01 北京理工大学 一种空间机械臂软抓手

Also Published As

Publication number Publication date
MX2019013591A (es) 2020-01-13
CN110621454B (zh) 2023-05-16
CN110621454A (zh) 2019-12-27
RU2019141618A3 (ru) 2021-06-17
BR112019023915A2 (pt) 2020-06-02
RU2019141618A (ru) 2021-06-17
TW201900364A (zh) 2019-01-01
JP7020619B2 (ja) 2022-02-16
TWI744492B (zh) 2021-11-01
US20200130069A1 (en) 2020-04-30
KR102414982B1 (ko) 2022-06-30
US10953477B2 (en) 2021-03-23
KR20200007786A (ko) 2020-01-22
DE112018002553T5 (de) 2020-01-30
JPWO2018211763A1 (ja) 2020-03-19
RU2751612C2 (ru) 2021-07-15

Similar Documents

Publication Publication Date Title
WO2018211763A1 (ja) ロック機構付きエアチャック
EP2303505B1 (en) Strip off pin clamp
US20070182080A1 (en) Pin Clamp
JP4304631B2 (ja) チャック装置
US20060128222A1 (en) Pin clamp accessories
EP2716425A1 (en) Coolant supply device and electric drill unit provided with coolant supply device
ES2562105T3 (es) Módulo tensor, en particular módulo tensor de punto cero
CN106232299A (zh) 用于夹紧部件的系统和用于密封涡轮机的低压整流器的内壳的方法
EP1729922A2 (en) Vane clamp assembly
US4686757A (en) Machine tool chuck construction
CN107009160B (zh) 驱动设备和配备有该驱动设备的工件夹紧单元
WO2021033577A1 (ja) エアチャック
JP4238735B2 (ja) 把持部材ストローク可変の空気圧駆動チャック
JP5473539B2 (ja) フック装置
JP6728925B2 (ja) バルブ開閉装置
KR100563613B1 (ko) 스트록어져스터를 갖는 에어척
KR200287087Y1 (ko) 밀링 작업용 회전작업대
JP5077746B2 (ja) チャック
CN209682114U (zh) 夹头组件及使用该夹头组件的手持式工具机
JP6590217B2 (ja) シリンダ装置
US20220388079A1 (en) Hydraulic actuation device
KR101727476B1 (ko) 방수 기능을 갖는 에어 척
TW201620667A (zh) 鑽桿護持裝置
JPH081571A (ja) チャック

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18801628

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 20197031573

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019519064

Country of ref document: JP

Kind code of ref document: A

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112019023915

Country of ref document: BR

ENP Entry into the national phase

Ref document number: 112019023915

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20191113

122 Ep: pct application non-entry in european phase

Ref document number: 18801628

Country of ref document: EP

Kind code of ref document: A1